US3921751A - Method and apparatus for automatically maintaining the speed of an automobile at a constant preselected value - Google Patents

Method and apparatus for automatically maintaining the speed of an automobile at a constant preselected value Download PDF

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Publication number
US3921751A
US3921751A US338529A US33852973A US3921751A US 3921751 A US3921751 A US 3921751A US 338529 A US338529 A US 338529A US 33852973 A US33852973 A US 33852973A US 3921751 A US3921751 A US 3921751A
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United States
Prior art keywords
throttle valve
speed
valve means
vacuum
generating
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Expired - Lifetime
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US338529A
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English (en)
Inventor
Naoji Sakakibara
Takeshi Nakane
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Aisin Corp
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Aisin Seiki Co Ltd
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Publication date
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/06—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure
    • B60K31/10—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means
    • B60K31/102—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of a pressure which is fed into the controlling means where at least one electrical quantity is set by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0605—Throttle position

Definitions

  • a method and apparatus for automatically maintaining the speed of an automobile constant at a preselected value utilizes a negative feedback signal within the automatic control system to limit the movement of ABSTRACT 'a throttle valve of the vehicle when the throttle valve is opened by a small amount. Excessive acceleration, deceleration, speed overshoot and hunching are prevented.
  • This invention relates in general to a method and system for the speed control of automotive vehicles and more particularly to a method and system for maintaining the speed of automotive vehicles at a constant desired or preselected value regardless of differing engine loads due to road conditions, wind or the like.
  • one object of the present invention is to provide a new and improved unique method and system for automotive speed control wherein the means for sensing the movement of the throttle valve can be installed at any portion and designed at any structure thereby avoiding a major drawback of the prior art.
  • Another object of the invention is to provide a new and improved unique method and system for automotive speed control wherein the hunching can be effectively prevented by applying an effective negative feedback during a small opening degree of the throttle valve.
  • a further object of the invention is to provide a new and improved unique method and system for automotive speed control wherein a proper feedback gain can be obtained without adjustment in accordance with a single carburetor or twin carburetor.
  • the foregoing and other objects are in one aspect attained by the provision of controlling the movement of the throttle valve by three signals each corresponding respectively to the actual road speed of the vehicle, the desired speed thereof, and the pressure of the engine vacuum.
  • FIG. 1 is a vertical-longitudinal section of the automotive speed control embodying the principles of this invention and diagrammatically shows some parts;
  • FIG. 2 shows in detail the electric circuit associated with the mechanical system shown in FIG. 1, and
  • FIG. 3 is a well known diagram showing the relation ship between the opening degree of the throttle valve and the pressure of the engine vacuum.
  • an engine vacuum sensor is shown as being connected to an intake manifold 11 through a conduit 12 such as a rubber pipe.
  • the vacuum sensor 10 comprises a housing 13 which is used also as a connector to the conduit 12, a cover 14 caulked to the housing 13, provided with slots 15 through which the atmospheric air can be admitted, and a pressure plate 16 fixedly provided between the housing 13 and the cover 14 whereby the interior of the vacuum sensor 10 is divided into two independent chambers, i.e., a vacuum chamber 17 and an atmospheric chamber 18.
  • a strain-gauge 19 is fixed to the pressure plate 16 and as the pressure difference between the two chambers 17 and 18 increases the resistance of the strain-gauge 19 will increase.
  • Lead-lines 20;of the strain-gauge 19 are connected to cores 21 of a wire 22 through an intennediate plate 23. Terminals 24 are connected to the ends of the wire 22.
  • the wire 22 is fixed relative to the cover 14 by means of a clamping plate 25.
  • the lead-lines 20, the cores 21 and the intermediate plate 23 are covered by a silicone rubber member 26.
  • a vacuum servo is indicated generally at reference 27 and comprises a housing 28 whose interior is divided into first and second chambers 29 and 30 by a diaphragm 31 secured to the housing 28 at its peripheral portion.
  • An interior plate 32 including an air flow aperture 33 is pasted on the inside wall of the housing 28.
  • a vacuum adjusting valve assembly 34 comprises a frame 35 fixed to the interior plate 32 by a screw bolt 36. Around the armature 37 windings 38 are wrapped. Each end of the winding 38 is connected to a terminal 39 or 40 which is made airtight so that the air in the second chamber 30 will not escape.
  • the valve assembly 33 further comprises a valve member 41 movably attached to the frame 35 and provided with two rubber seal members 42, 43.
  • a vacuum pipe 45 is fixedly inserted into the opening of the housing 28 at one end and into the conduit 12 at the other end.
  • the pipe includes an orifice 46 whose opening end is normally closed by the seal rubber member 42.
  • An atmospheric nozzle 47 is fixedly inserted into the other opening of the housing 28.
  • An air cleaner 48 is fixed to the housing 28 by screws 49 so that the atmospheric air can, under normal conditions, be introduced to the second chamber 30 through the atmospheric nozzle 47, normally opened rubber seal member 43, and the aperture 33 of the interior plate 32.
  • each side of the diaphragm 31 is secured to a retainer plate 50 and a pressure plate 51 by a rivet 52.
  • a compression coil spring 53 is provided between the pressure plate 51 and the interior plate 32 thereby normally urging the diaphragm 31 to move in the left direction in FIG. 1.
  • slots 54 are provided on the housing 28 thereby normally introducing atmospheric air to the first chamber 29.
  • the rivet 52 is mechanically connected to a throttle valve operating lever 55 through a wire means 56.
  • the throttle valve operating lever 55 When the diaphragm 31, Le, the wire means 56 is movedto the right in FIG. 1, the throttle valve operating lever 55 will cause a throttle valve 57 to open.
  • the throttle operating lever 55 is also mechanically connected to a foot accelerator pedal 58 in the conventional way.
  • the structure of the intake manifold 11 and the other associated members thereof are quite conventional so that a detailed explanation thereabout will be omitted.
  • a tachometer generator 59 is shown as being provided and produces an alternating current which is converted into a direct current by a diode bridge rectifier 60.
  • a resistor 61 and a condensor 62 are provided and serve as a ripple filter.
  • the voltage across the condensor 62 is divided by a variable resistor 63 and is applied to the base of a transistor 64.
  • the variable resistor 63 can be manually controlled in order to set a desirable speed for the vehicle to be controlled.
  • the numeral 65 indicates a resistor and the transistor 64 is connected in an emitter-follower connection.
  • a first voltage signal corresponding to the desired or preselected speed thereof are applied, respectively, to each end of the resistor 65. in other words, the difference of the corresponding voltage between the actual speed and the preselected speed can be sensed across the resistor 65.
  • Transistors 66, 67 and resistors 68, 69 constitute a comparison means. An input voltage is applied to the base of the transistor 66 which is connected to the resistor 65, while another input voltage is applied to the base of the transistor 67, which is connected to the collector of a transistor 70.
  • the strain-gauge 19 is connected to the emitter of transistor 70 and has a third signal voltage thereacross which corresponds to vacuum pressure produced by the throttle valve;
  • the transistor 70 provides an error output for a bridge circuit which is constituted by resistors 71, '72, 73 and the strain-gauge 19.
  • a resistor 74 is connected to the collector of the transistor 66 and an input is supplied across the resistor 74 to a Darlington amplifier comprising transistors 75 and 76 through a diode 77.
  • the numeral 78 represents a surge absorber diode and the numeral 79 represents a relay, one end of which is connected to a brake-lamp 80 and the other ends of which is connected to a push-button switch 81 and to a normally open contact 82 for the relay 79.
  • One end of the relay 79 is connected also to a switch 83 which is in turn connected to an automobile battery 84 and is adapted to close when the brake is applied.
  • the operator can set a desirable speed of the vehicle by means of the variable resistor 63 to apply a corresponding voltage on the base of the transistor 64. Then, when the push-button switch 81 is pushed an electric current flows through the relay 79 and the brake lamp 80 and thereby closes the contact 82. Even after the switch 81 is released the relay 79 will be maintained in operation.
  • the input voltage or base potential of the transistor 66 is lower than the collector potential thereof so that the transistors 75 and 76 are made conductive through the diode 77. At this time the transistor 66 is in a non-conductive state. Therefore, the windings 38 of the vacuum adjusting valve assembly 34 are energized to attract the valve member 41 to the armature 37 whereby the atmospheric nozzle 47 is closed by the rubber seal member 43, while the vacuum pipe 45 is opened. The vacuum thus introduced to the second chamber 30 from the intake manifold 11 via the conduit 12 will cause the diaphragm 31 to move in the right direction (FIG. 1) against the biasing force of the spring 53.
  • the throttle valve 57 is opened through the wire means 56 and the throttle valve operating lever 55 so that the engine output will be increased. Consequently the vehicle is accelerated to approach the desired road speed.
  • the vacuum pressure produced by the throttle valve 57 is decreased. Therefore, the pressure difference sensed by the pressure plate 16 of the engine vacuum sensor 10 is decreased to reduce the resistance of the straingauge 19 whereby the transistor 70 will approach its non-conductive state and the transistor 66 will approach its conductive state. At this time the actual road speed of the vehicle will become higher and sufficiently increase the input voltage of the transistor 66 to cause it to turn conductive, while the transistors 75 and 76 will be turned non-conductive.
  • valve member 41 of the assembly 34 is returned to its original position as shown in FIG. 1 so that the atmospheric pressure is admitted to the second chamber 30 whilst the vacuum nozzle 45 is closed by the rubber seal member 42.
  • the throttle valve 57 is opened to decrease the vacuum pressure of the throttle valve 57, then the same is apt to be closed even if the actual road speed is below the desired or preselected speed of the vehicle. Therefore, the throttle valve 57 is controlled to not open too much.
  • the base potential of the transistor 66 is increased to make the transistor 66 turn on. Therefore, the transistors 75 and 76 are made nonconductive so that the vacuum adjusting valve assembly 34 is inoperative and the atmospheric pressure is introduced into the second chamber 30 of the vacuum servo 27.
  • the throttle valve 57 is thus caused to tend to close thereby increasing the vacuum pressure thereof.
  • the resistance of the strain-gauge 19 is increased in accordance with the increase of the vacuum pressure so that the transistor 70 approaches its conductive state. Accordingly, the. transistor 66 approaches its non-conductive state while the transistors 75 and 76 approach their conductive state. Therefore, the vacuum adjusting valve assembly 34 is actuated to prevent the throttle valve 57 from closing too much.
  • any over or excessive opening or closing of the throttle valve 57 can be limited near to the preselected road speed of the vehicle whereby hunching or overshooting is substantially prevented.
  • the method and system of this invention are well applicable to the automotive vehicle having a twin-carburetor as well as that having a singlecarburetor.
  • a twin-carburetor the'ope'n; ing degree of each throttle valve is approximatelyhalf of that in the case of a single-carbureter in order to get the same corresponding speed;
  • the twin-carburetor must have more feedback gain than the single-carburetor when the opening degree of the throttle valve has to bechanged to the feedback signal. It has been very troublesome in the past to adjust the feedback gain according to the single-carburetor vehicle or twin-carburetor vehicle.
  • the pressure of the engine vacuum to be changed is substantially the same in the twincarburetor as in the single-carburetor because two throttle valves are opened in the twin-carburetor the feedback gain does not have to be changed according to the single-carburetor vehicle or twin-carburetor vehi'cle.
  • a speed control system for an automotive vehicle having throttle valve means comprising:
  • third means comprising a strain gauge engine vacuum sensor for. generating a force due to a pneumatic pressure difference which is caused by the change of opening of the throttle valve means for generating a negative feedback signal corresponding to the automotive engine vacuum pressure produced by the throttle valve means, said negative feed back signal varying inversely with the opening of the throttle valve means, and
  • fourth means for combining said first, second and negative feedback signals to form an error signal to control the opening of the throttle valve means.
  • a speed control system according to claim 1 wherein said fourth 'means includes means to limit movement of said throttle valve means for small opening of said throttle valve means.
  • a speed control system according to claim 1 wherein said fourth means further includes a vacuum servo comprising:
  • a speed control system according to claim 3 wherein said vacuum adjusting valve means includes:
  • valve member movably attached to said frame and communicating with an atmospheric nozzle and a vacuum nozzle, said valve member covering only said atmospheric nozzle when said coil is energized, and covering only said vacuum nozzle when said coil is deenergized.
  • a speed control system for an automotice vehicle having throttle valve means comprising:
  • second means for generating a second signal corresponding to the desired automotive speed third means for generating a negative feedback signal corresponding to the automotive engine vacuum pressure produced by the throttle valve means, said negative feedback signal varying inversely with the opening of the throttle valve means, and
  • fourth means for combining said first, second and negative feedback signals to form an error signal to control the opening of the throttle valve means
  • said first means includes a tachometer means which develops an electrical signal proportional to an actual speed of said vehicle
  • said second means includes a potentiometer electrically connected to said tachometer means
  • said third means includes a strain gauge communicating with a vacuum of said engine.
  • said fourth means further includes electronic circuit means for combining said tachometer signal representing an actual speed, said potentiometer signal representing a preselected speed and a signal from said strain gauge representing an engine vacuum pressure to provide said error signal.
  • a speed control system according to claim 6 wherein said throttle valve means is controlled by a vacuum servo having said error signal applied thereto.
  • a speed control system according to claim 7 wherein said electronic circuit means includes a differential amplifier for combining said first, second and negative feedback signals.
  • a speed control method for an automotive vehicle having throttle valve means comprising the steps of:
  • a speed control method according to claim 9 wherein the step of combining said signals further includes applying said negative feedback signal to limit movement of said throttle valve means when said means is opened by a small amount.
  • a speed control method wherein the step of controlling the opening and closing of said throttle valve means further includes the step of limiting a movement of said throttle valve means when said means is opened by a small amount.
  • a speed control system for an automotice vehicle having throttle valve means comprising:
  • fourth means for combining said first, second and negative feedback signals to form an error signal to control the opening of the throttle valve means
  • said third means including an engine vacuum sensor comprising:
  • a pressure plate fixedly provided between said housing and said cover providing a vacuum chamber and an atmospheric chamber therein
  • strain sensing means fixed to said pressure plate for detecting a pressure difference between said chambers, said difference corresponding to a pressure of said engine vacuum.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Control Of Velocity Or Acceleration (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
US338529A 1972-03-07 1973-03-06 Method and apparatus for automatically maintaining the speed of an automobile at a constant preselected value Expired - Lifetime US3921751A (en)

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JP2330572A JPS55582B2 (fr) 1972-03-07 1972-03-07

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4013139A (en) * 1975-08-07 1977-03-22 James Hrebicek Vehicle bumper assembly
US4039043A (en) * 1975-03-17 1977-08-02 Vdo Adolf Schindling Ag Apparatus for controlling the traveling speed of a motor vehicle
US4082158A (en) * 1975-11-17 1978-04-04 General Motors Corporation Differential pressure power road speed control system
US4098368A (en) * 1975-11-17 1978-07-04 General Motors Corporation Road speed control with redundant release
US4105088A (en) * 1977-03-07 1978-08-08 General Motors Corporation Servomotor with position feedback
US4121685A (en) * 1976-08-13 1978-10-24 Vdo Adolf Schindling Ag Apparatus for controlling the traveling speed of a motor vehicle
US4190026A (en) * 1976-10-26 1980-02-26 Aisin Seiki Co., Ltd. Automobile speed control method and system
US4280460A (en) * 1977-12-22 1981-07-28 Alfa Romeo S.P.A. Automatic regulator of the idling in an internal-combustion engine
US4431077A (en) * 1979-03-22 1984-02-14 Travel Accessories Manufacturing Co., Inc. Vehicle speed control system
US4756234A (en) * 1985-10-02 1988-07-12 Eaton Corporation Vacuum and electric cruise control actuator
US4861292A (en) * 1988-07-18 1989-08-29 Brunswick Corporation Speed optimizing positioning system for a marine drive unit

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3322227A (en) * 1963-10-17 1967-05-30 Robert H Thorner Automotive speed control system
US3381771A (en) * 1966-05-17 1968-05-07 Bendix Corp Automobile speed control
US3405779A (en) * 1966-12-09 1968-10-15 Gen Motors Corp Vehicle speed control system
US3485316A (en) * 1966-11-29 1969-12-23 Bendix Corp Automobile speed control
US3596731A (en) * 1969-11-14 1971-08-03 Gen Motors Corp Vehicle road speed control system
US3727714A (en) * 1969-11-25 1973-04-17 Nippon Denso Co Automatic constant speed driving system for automobiles
US3741332A (en) * 1970-12-22 1973-06-26 Aisin Seiki Safety device for motor-vehicle engine-speed governor

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3322227A (en) * 1963-10-17 1967-05-30 Robert H Thorner Automotive speed control system
US3381771A (en) * 1966-05-17 1968-05-07 Bendix Corp Automobile speed control
US3485316A (en) * 1966-11-29 1969-12-23 Bendix Corp Automobile speed control
US3405779A (en) * 1966-12-09 1968-10-15 Gen Motors Corp Vehicle speed control system
US3596731A (en) * 1969-11-14 1971-08-03 Gen Motors Corp Vehicle road speed control system
US3727714A (en) * 1969-11-25 1973-04-17 Nippon Denso Co Automatic constant speed driving system for automobiles
US3741332A (en) * 1970-12-22 1973-06-26 Aisin Seiki Safety device for motor-vehicle engine-speed governor

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4039043A (en) * 1975-03-17 1977-08-02 Vdo Adolf Schindling Ag Apparatus for controlling the traveling speed of a motor vehicle
US4013139A (en) * 1975-08-07 1977-03-22 James Hrebicek Vehicle bumper assembly
US4082158A (en) * 1975-11-17 1978-04-04 General Motors Corporation Differential pressure power road speed control system
US4098368A (en) * 1975-11-17 1978-07-04 General Motors Corporation Road speed control with redundant release
US4121685A (en) * 1976-08-13 1978-10-24 Vdo Adolf Schindling Ag Apparatus for controlling the traveling speed of a motor vehicle
US4190026A (en) * 1976-10-26 1980-02-26 Aisin Seiki Co., Ltd. Automobile speed control method and system
FR2383340A1 (fr) * 1977-03-07 1978-10-06 Gen Motors Corp Servomoteur actionne par une pression differentielle tout particulierement adapte aux dispositifs de reglage de vitesse de vehicules
DE2807994A1 (de) * 1977-03-07 1978-09-14 Gen Motors Corp Differentialdruckbetaetigter stellmotor
US4105088A (en) * 1977-03-07 1978-08-08 General Motors Corporation Servomotor with position feedback
US4280460A (en) * 1977-12-22 1981-07-28 Alfa Romeo S.P.A. Automatic regulator of the idling in an internal-combustion engine
US4431077A (en) * 1979-03-22 1984-02-14 Travel Accessories Manufacturing Co., Inc. Vehicle speed control system
US4756234A (en) * 1985-10-02 1988-07-12 Eaton Corporation Vacuum and electric cruise control actuator
US4861292A (en) * 1988-07-18 1989-08-29 Brunswick Corporation Speed optimizing positioning system for a marine drive unit

Also Published As

Publication number Publication date
JPS55582B2 (fr) 1980-01-09
JPS4891426A (fr) 1973-11-28

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